Techniques for controlling a moveable component

Abstract

Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

What is claimed is: 
     
       1. A computer-assisted system comprising:
 a moveable component; and 
 a controller coupled to the moveable component, the controller being configured to control motion of the moveable component according to a state machine; 
 wherein:
 the state machine comprises a first state and a second state; 
 in the first state, the controller holds the moveable component at a current position; 
 the controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component from the current position for longer than a first predetermined duration of time, the displacement being due to a disturbance; 
 in the second state, the controller commands the moveable component to perform a motion; 
 the controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and 
 the controller transitions the state machine from the second state to the first state in response to detecting the stop condition. 
 
 
     
     
       2. The computer-assisted system of  claim 1 , wherein:
 the computer-assisted system is a teleoperated surgical system; and 
 the motion moves the moveable component into a portion of a surgical drape. 
 
     
     
       3. The computer-assisted system of  claim 1 , wherein the moveable component comprises a link of an instrument manipulator. 
     
     
       4. The computer-assisted system of  claim 1 , wherein the motion is in a direction of the displacement. 
     
     
       5. The computer-assisted system of  claim 1 , wherein to detect the displacement of the moveable component, the controller is configured to detect that the displacement is greater than a threshold displacement for at least the first predetermined duration of time. 
     
     
       6. The computer-assisted system of  claim 1 , wherein to detect the displacement of the moveable component, the controller is configured to detect a pattern of two or more displacements of the moveable component from the current position. 
     
     
       7. The computer-assisted system of  claim 1 , wherein to detect the displacement of the moveable component, the controller is configured to detect one or more external taps on the moveable component. 
     
     
       8. The computer-assisted system of  claim 1 , wherein the stop condition comprises the moveable component completing the motion or the moveable component moving by a predetermined distance. 
     
     
       9. The computer-assisted system of  claim 1 , wherein the stop condition comprises a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time. 
     
     
       10. The computer-assisted system of  claim 1 , wherein:
 the motion is a motion in a sequence of motions; and 
 each time the state machine is in the second state, the controller commands the moveable component to perform a next motion in the sequence of motions. 
 
     
     
       11. The computer-assisted system of  claim 1 , wherein:
 the state machine further comprises a third state; 
 in response to detecting the stop condition, the controller transitions the state machine from the second state to the third state instead of the first state; 
 in the third state, the controller holds the moveable component at the current position; and 
 the controller transitions the state machine from the third state to the first state after remaining in the third state for a second predetermined period of time. 
 
     
     
       12. A method for controlling a moveable component of a computer-assisted system, the method comprising:
 operating, by a controller, the computer-assisted system according to a state machine comprising a first state and a second state; 
 wherein operating the computer-assisted system according to the state machine comprises:
 in the first state, holding the moveable component at a current position; 
 transitioning the state machine from the first state to the second state in response to detecting a displacement of the moveable component from the current position for longer than a first predetermined duration of time, the displacement being due to a disturbance; 
 in the second state, commanding the moveable component to perform a motion; 
 remaining in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and 
 transitioning the state machine from the second state to the first state in response to detecting the stop condition. 
 
 
     
     
       13. The method of  claim 12 , wherein the motion is in a direction of the displacement. 
     
     
       14. The method of  claim 12 , wherein detecting that the displacement comprises:
 detecting that the displacement is greater than a threshold displacement for at least the first predetermined duration of time; or 
 detecting a pattern of two or more displacements of the moveable component from the current position; or 
 detecting one or more external taps on the moveable component. 
 
     
     
       15. The method of  claim 12 , wherein the stop condition comprises:
 the moveable component completing the motion; or 
 the moveable component moving by a predetermined distance; or 
 a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time. 
 
     
     
       16. The method of  claim 12 , wherein:
 the state machine further comprises a third state; and 
 operating the computer-assisted system according to the state machine further comprises:
 transitioning, in response to detecting the stop condition, the state machine from the second state to the third state instead of the first state; 
 in the third state, holding the moveable component at the current position; and 
 transitioning the state machine from the third state to the first state after remaining in the third state for a second predetermined period of time. 
 
 
     
     
       17. A non-transitory computer-readable medium storing instructions, which when executed by of one or more hardware processors associated with a computer-assisted system comprising a moveable component, cause the one or more hardware processors to perform a method comprising:
 operating the computer-assisted system according to a state machine comprising a first state and a second state; 
 wherein operating the computer-assisted system according to the state machine comprises:
 in the first state, holding the moveable component at a current position; 
 transitioning the state machine from the first state to the second state in response to detecting a displacement of the moveable component from the current position for longer than a first predetermined duration of time, the displacement being due to a disturbance; 
 in the second state, commanding the moveable component to perform a motion; 
 remaining in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected; and 
 transitioning the state machine from the second state to the first state in response to detecting the stop condition. 
 
 
     
     
       18. The non-transitory computer-readable medium of  claim 17 , wherein detecting the displacement comprises:
 detecting that the displacement is greater than a threshold displacement for at least the first predetermined duration of time; or 
 detecting a pattern of two or more changes in a position of the moveable component from the current position; or 
 detecting one or more external taps on the moveable component. 
 
     
     
       19. The non-transitory computer-readable medium of  claim 17 , wherein the stop condition comprises:
 the moveable component completing the motion; or 
 the moveable component moving a predetermined distance; or 
 a speed of the moveable component remaining below a threshold speed for a second predetermined duration of time. 
 
     
     
       20. The non-transitory computer-readable medium of  claim 17 , wherein:
 the state machine further comprises a third state; and 
 operating the computer-assisted system according to the state machine further comprises:
 transitioning, in response to detecting the stop condition, the state machine from the second state to the third state instead of the first state; 
 in the third state, holding the moveable component at the current position; and 
 transitioning the state machine from the third state to the first state after remaining in the third state for a second predetermined period of time.